CN102359890B - Drill stem clamping device of moon deep soil collector - Google Patents
Drill stem clamping device of moon deep soil collector Download PDFInfo
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- CN102359890B CN102359890B CN 201110304180 CN201110304180A CN102359890B CN 102359890 B CN102359890 B CN 102359890B CN 201110304180 CN201110304180 CN 201110304180 CN 201110304180 A CN201110304180 A CN 201110304180A CN 102359890 B CN102359890 B CN 102359890B
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Abstract
The invention discloses a drill stem clamping device of a moon deep soil collector. The device is characterized in that a shaft of a driving motor is provided with a driving gear; two sides of the shaft of the driving motor are respectively provided with left and right symmetric transmission gear trains; the gear shafts of the last level of the two transmission gear trains are respectively provided with cranks coaxially; sliding grooves are formed on the base between the gear shafts of the last level; symmetrically arranged sliding blocks are arranged in the sliding grooves; T-shaped head of one side of each paw is embedded in the groove of each sliding block; the end surfaces of the sliding block grooves are provided with arc shaped spring leaves; the arc shaped spring leaves are in contact with the external end surfaces of the paw T-shaped heads; one end of each connecting rod is connected with the crank; the other end of each connecting rod is articulated with the sliding block, so as to form a crank sliding block mechanism; and the other side of the paw is a concave circular arc face. The device provided by the invention adopts a motor to drive two paws and two symmetrically arranged gear trains, so that the two paws have a good synchronicity and the drill stem is hard to be bent; the transmission way is high in reliability; the crank sliding block mechanism has an amplifying effect to force tools; and the working turn of the motor is small, so the motor can move fast.
Description
Technical field
The present invention relates to drill rod grip device, especially relate to a kind of drill rod grip device of lunar deep soil collector.
Background technology
Since 20 middle of century, the mankind just constantly explore the moon.From 1958 to 1976, the U.S. and the Soviet Union launched 108 lunar orbiters altogether, 52 of success or part successes.Moon exploration obtains epoch-making achievement.Manned and unmanned moonfall sampling has been carried out respectively in the Luna plan of U.S. Apollo plan and the Soviet Union, obtains altogether the moon sample of 382.0211kg.Wherein U.S. Apollo plan gathers the about 381.7kg of moon sample, and Soviet Union Luna plan gathers the about 0.3211kg of moon sample.Wherein Apollo plan collected specimens is substantially by manually carrying out, and the Luna plan is automatically sampling.
After entering the nineties in 20th century, comprise that the multinational and tissue in the world of China begins to carry out the moon exploration of a new round.The lunar soil sampling has decisive role to analysis moon resource environment and utilization in the future, and for complicacy and dangerous consideration to cosmonaut's moonfall, automatic sampling apparatus is developed.Present extraterrestrial sample mode mainly contains following several: the A. pawl, ladle out, shovel; B. press from both sides, clamp; C. net, tow rope; D. bore on deep drilling, surface, rock core drill; E. penetrating device; F. driving tube; G. surface adhesion; H. brush, sweep; I. suction-type.
Wherein, deep drilling is present unique mode that can gather deep lunar soil and keep its architectural characteristic, and it is accomplished in the works at Luna, but because some reason sampling quantities are less.Deep lunar soil is subjected to external environment influence little, to research meaning much larger than top layer lunar soil and lunar rock, so the deep drilling device becomes the important tool of extraterrestrial sampling.
The single pole rig is all adopted in the extraterrestrial sampling deep drilling of the early stage Soviet Union, produce thus the problem that sampling depth is inadequate or drilling apparatus is excessive, so the software engineering researchers invent in later stage many bar drills machine, by with the splicing of many drilling rods, realized obtaining the larger drilling degree of depth with less device.Wherein, by the MRoSA2 drilling system that University of Helsinki and ESA develop jointly, volume is 11*11*35cm, contain 10 20cm long can automatic Composition and the drilling rod of dismounting, drilling through the degree of depth is 2m; A kind of boring with sampling system of NASA and ASI cooperative development, the darkest 2.5m under the top layer, every drilling rod sampling diameter 14mm, the long 25mm of reaching; Many bars sampling deep layer device towards the lunar soil collection of the exploitation such as the Ding Xilun of BJ University of Aeronautics ﹠ Astronautics, four drilling rod overall length 1.5m; The robotize menology sampling thief of the exploitation such as the left will heavily fortified point of the Chinese Academy of Sciences, Li Bin contains a rotary type tower rig.These novel multi-rod rigs face an identical problem: the fixedly difficulty of drilling rod when assembly and disassembly.Owing to when two drilling rods of connection, can produce circumferentially and axial two kinds of acting forces, need fixing wherein one, the periphery of present general employing clamping device clamps drilling rod between the two.Adopt the drilling rod both sides to be arranged symmetrically with the motor-driven cam and linear slider clamps drilling rod such as MRoSA2 drilling system, this synchronism to two motors requires high, because asymmetric acting force can make drill pipe buckling, cause thus the control difficulty, and two motors have also increased power requirement; And the many bars sampling deep layer device towards the lunar soil collection of BJ University of Aeronautics ﹠ Astronautics, adopt electromagnet to attract two paws of clamp to step up, shortcoming is that electromagnet strength is not enough, drilling rod may skid when torque was large, and this device two paws can occur equally to the asymmetric drill pipe buckling that causes of drilling rod acting force.
Summary of the invention
The object of the present invention is to provide a kind of drill rod grip device of lunar deep soil collector, is that a kind of volume is little, power consumption is little, clamping force is large, the drill-rod clamping device of two pawl application of force symmetries in order to provide at developing many bars deep drilling device.
For solving the problems of the technologies described above, the technical solution used in the present invention is as follows:
The present invention includes support, drive motor, two transfer gear train that structure is identical, two paws, two cranks, two slide blocks, two connecting rods, two flat spring sheets; Drive motor is installed in support, on the axle of drive motor driving gear is installed, both sides at driving gear are separately installed with a left side, the transfer gear train of right symmetry, on a left side, the coaxial installation crank of difference on the gear shaft of the afterbody of the transfer gear train of right symmetry, have chute on the support between the gear shaft of afterbody, the slide block that is arranged symmetrically with is installed in the chute, the T connector that each hand is grabbed a side embeds in the groove of slide block separately, the slide block slot end face is equipped with arc-shaped spring piece, arc-shaped spring piece contacts with paw T connector outer face, one end of each connecting rod is connected with crank separately, the other end of each connecting rod is hinged with slide block separately, thereby formation slider-crank mechanism, the opposite side that each hand is grabbed are concaved circular cambered surface.
The transmission gear of described left and right symmetry is the tertiary gear transmission.
The concaved circular cambered surface of described two paws is coated with the material of soft great friction coefficient.
The connecting rod of described slider-crank mechanism works in extreme position, the position the when crank that is slider-crank mechanism becomes 180 ° of angles with connecting rod.
The beneficial effect that the present invention has is:
Adopt two paws of a motor-driven, gear train is arranged symmetrically with, so two paw synchronisms are good, be difficult for making drill pipe buckling, and energy consumption is little; Mechanism is simple, compact, saves the space, and the kind of drive reliability that adopts is high; Link rob near limit position, slider-crank mechanism has amplification effect to power; The machine operation corner is little, is swift in motion.The drill-rod clamping device of the present invention for providing at developing many bars deep drilling device.
Description of drawings
Fig. 1 is one-piece construction stereographic map of the present invention.
Fig. 2 is the stereographic map that the present invention omits support.
Fig. 3 is the stereographic map of slider-crank mechanism of the present invention and paw.
Fig. 4 is the duty stereographic map of the present invention's (increase drilling rod).
Among the figure: 1, support, 2, drive motor, 3, transfer gear train, 4, paw, 5, crank, 6, slide block, 7, connecting rod, 8, spring leaf, 9, drilling rod.
Embodiment
The invention will be further described below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.
Such as Fig. 1, Fig. 2, Fig. 3, shown in Figure 4, the present invention includes support 1,6, two connecting rods of 5, two slide blocks of 4, two cranks of 3, two paws of transfer gear train, 7, the two flat spring sheets 8 that 2, two structures of drive motor are identical; Drive motor 2 is installed in support 1, and the drive motor gear train is rotated, and clamping force is provided.On the axle of drive motor 2 driving gear is installed, be separately installed with the transfer gear train 3 of left and right symmetry in the both sides of driving gear, at the gear shaft of the afterbody of the transfer gear train 3 of left and right symmetry coaxial installation crank 5 respectively, crank and asymmetric installation, the clamping campaign during with assurance work.Have chute on the support 1 between the gear shaft of afterbody, the slide block 6 that is arranged symmetrically with is installed in the chute, the T connector that each hand is grabbed 4 one sides embeds in the groove of slide block 6 separately, the slide block slot end face is equipped with arc-shaped spring piece, arc-shaped spring piece contacts with paw T connector outer face, and an end of each connecting rod 7 is connected with crank 5 separately, and the other end of each connecting rod 7 is hinged with slide block separately, it is concaved circular cambered surface that thereby formation slider-crank mechanism, each hand are grabbed 4 opposite side.The transfer gear train of described left and right symmetry all has three gears, consists of the tertiary gear transmission, and after the tertiary gear transmission, the gear movement direction of two edge tails is identical.Concaved circular cambered surface on the described paw is coated with the material of soft great friction coefficient, and the helicla flute lines corresponding with drilling rod 9 arranged on the clad material.The connecting rod of described slider-crank mechanism works in extreme position, the position the when crank that is slider-crank mechanism becomes 180 ° of angles with connecting rod.
Be illustrated in figure 2 as motion parts of the present invention, comprise successively the drive motor 2, the transfer gear train 3 that is arranged symmetrically with that connect, be arranged under terminal two gears and the coaxial crank that is connected 5, connecting rod 7, slide block 6, spring leaf 8 and paw 4.The effect of described drive motor provides power, drives transfer gear train 3 rotations and passes to crank 5, by connecting rod 7 rotation is converted to the linear slide of slide block 6 again, and finally drives paw 4 rectilinear motions.Described two connecting rods 7 are not to be arranged symmetrically with, and produce rightabout rectilinear motion thereby terminal two gear rotating in same directions drive two slide blocks 6.
Be illustrated in figure 3 as cover crank slide block mechanism and a paw of the present invention, it is inner to be installed in support 1 front end, and described spring leaf 8 is arranged between paw and the slide block, and buffering can be provided, and makes clamping more firm.The end face of pawl is arc surface, can better add to hold drilling rod.
Duty when being illustrated in figure 4 as band drilling rod 9 of the present invention, drilling rod 9 passes from the drilling rod hole, and the paw 4 that the both sides is positioned at support 1 inside inwardly clamps under the driving of drive motor 2 and whole kinematic train or outwards unclamps drilling rod, practical function.
For detecting clamped condition, can also in slide block 6, be provided with pressure transducer, 1 on slide block 6 and support are provided with displacement transducer.
Claims (4)
1. the drill rod grip device of a lunar deep soil collector is characterized in that: comprise support (1), drive motor (2), two transfer gear train that structure is identical, two paws, two cranks, two slide blocks, two connecting rods, two flat spring sheets; Drive motor (2) is installed in support (1), on the axle of drive motor (2) driving gear is installed, both sides at driving gear are separately installed with a left side, the transfer gear train of right symmetry, on a left side, the coaxial installation crank of difference on the gear shaft of the afterbody of the transfer gear train of right symmetry, support between the gear shaft of afterbody has chute on (1), the slide block that is arranged symmetrically with is installed in the chute, the T connector of each paw one side embeds in the groove of slide block separately, the slide block slot end face is equipped with arc-shaped spring piece (8), arc-shaped spring piece contacts with paw T connector outer face, one end of each connecting rod is connected with separately crank (5), the other end of each connecting rod is hinged with slide block separately, thereby formation slider-crank mechanism, the opposite side of each paw are concaved circular cambered surface.
2. the drill rod grip device of a kind of lunar deep soil collector according to claim 1, it is characterized in that: the transmission gear of described left and right symmetry is the tertiary gear transmission.
3. the drill rod grip device of a kind of lunar deep soil collector according to claim 1, it is characterized in that: the concaved circular cambered surface of described two paws is coated with the material of soft great friction coefficient.
4. the drill rod grip device of a kind of lunar deep soil collector according to claim 1, it is characterized in that: the connecting rod of described slider-crank mechanism works in extreme position, the position the when crank that is slider-crank mechanism becomes 180 ° of angles with connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110304180 CN102359890B (en) | 2011-10-10 | 2011-10-10 | Drill stem clamping device of moon deep soil collector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110304180 CN102359890B (en) | 2011-10-10 | 2011-10-10 | Drill stem clamping device of moon deep soil collector |
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| Publication Number | Publication Date |
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| CN102359890A CN102359890A (en) | 2012-02-22 |
| CN102359890B true CN102359890B (en) | 2013-01-09 |
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| CN 201110304180 Active CN102359890B (en) | 2011-10-10 | 2011-10-10 | Drill stem clamping device of moon deep soil collector |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103063470B (en) * | 2012-12-27 | 2015-04-15 | 山西农业大学 | Soil sampler for sampling deep soil |
| CN104535366B (en) * | 2014-12-27 | 2017-02-01 | 西安交通大学青岛研究院 | Multipoint soil sampler |
| CN104535363B (en) * | 2014-12-27 | 2017-03-08 | 青岛橡胶谷知识产权有限公司 | Multiple spot concentrates soil sampler |
| CN104535364B (en) * | 2014-12-27 | 2017-02-01 | 西安交通大学青岛研究院 | Multi-point-concentrated electric soil sampling device |
| CN109470514B (en) * | 2018-12-20 | 2021-03-19 | 东南大学 | Combined asteroid sampler and sampling method thereof |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001329527A (en) * | 2000-05-25 | 2001-11-30 | Sumikon Serutekku Kk | Sampling apparatus and method for soil |
| US6837312B2 (en) * | 2002-05-08 | 2005-01-04 | Tze Cheun Ng | Corer-grinder |
| CN201096647Y (en) * | 2007-08-30 | 2008-08-06 | 北京航空航天大学 | Moon soil sampling device |
| CN101750233B (en) * | 2008-12-19 | 2011-08-03 | 中国科学院沈阳自动化研究所 | Lunar sampler |
| CN101936822B (en) * | 2010-07-30 | 2011-11-16 | 北京航空航天大学 | Pole-changing positioning mechanism and pole-changing positioning method for multi-pole deep lunar soil sampler |
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